Satellite based global positioning system for feedlot computer network and method

ABSTRACT

A computer network and method for feeding animals in a feedlot, in which discretion and direct control over the various suboperations of the feed ration assignment and delivery process are distributed among the individual operators in the system, while the feedlot manager is capable of indirectly monitoring the performance of the various suboperations through use of a satellite based global positioning system.

BACKGROUND

[0001] In modern times, commercial feedlots are used extensively to feedthousands of head of cattle or other animals at various stages ofgrowth. The major reason for using an animal feedlot rather than the“open range” to feed cattle, is to expedite the cattle growth processand thus be able to bring cattle to the market in a shorter time period.

[0002] Within an animal feedlot, cattle are physically contained incattle pens, each of which has a feedbunk to receive feed. Ownership ofcattle in the feedlot is defined by unique lot numbers associated withthe group(s) of cattle in each pen. The number of cattle in an owner'slot can vary and may occupy a fraction of or one or more cattle pens.Within a particular pen, cattle are fed the same feed ration, (i.e. thesame type and quantity of feed). In order to accommodate cattle atvarious stages of growth or which require special feeding because theyare sick, undernourished or the like, the feedlot comprises a largenumber of pens.

[0003] Generally, feeding cattle in a feedlot involves checking dailyeach pen to determine the ration quantity to be fed to the cattletherein at each particular feeding cycle during that day, the conditionof the cattle, and the condition of the pen. At a feedmill, feed trucksare then loaded with appropriate quantities of feed for delivery duringa particular feeding cycle. Thereafter, the loaded feed trucks aredriven to the feedbunks and the assigned ration quantity for each pen isdispensed in its feedbunk. The above process is then repeated for eachdesignated feeding cycle. Owing to the large number of feed rationquantities assigned for delivery each day in the feedlot, feedinganimals in a large feedlot has become an enormously complex andtime-consuming process.

[0004] It is well known in the art to use computers to simplify feedlotmanagement operations. In their 1984 PC World article “Computers RideThe Range”, Eric Brown and John Faulkner explain that large feedlotswere the first cattle operations to utilize computers in order tosimplify calculations on feed, cattle movements, payroll and accounting,invoicing and least-cost feed blending. From such calculations, marketprojections, “break-even prices” on any given head of cattle, andanalyzable historical records can be easily created while permittingfeedlot managers to keep track of virtually all overhead costs, fromlabor and equipment costs, down to the last bushel of corn or gram ofmicro-nutrients. Computer systems of the above type are generallydescribed in the articles: “Homestead Management Systems' FeedlotPlanner and Hay Planner” by Wayne Forest, published on pages 40-44 ofthe September 1985 issue of Agricomp magazine; and “Rations and FeedlotMonitoring” by Carl Alexander, published on pages 107-112 of ComputerApplications in Feeding and Management of Animals, November 1984. Theuse of computer systems to simulate and thus predict the growth processof cattle in a feedlot is disclosed in the article “OSU Feedlot(Fortran)” by Donald R. Gill, on pages 93-106 of Computer Applicationsin Feeding and Management of Animals, supra.

[0005] It is also well known to use portable computing equipment inorder to facilitate the assignment and delivery of feed rations in afeedlot. For example, U.S. Pat. No. 5,008,821 to Pratt et al. disclosesone prior art system in which portable computers are used in feed rationassignment and delivery operations. However, while this prior artcomputer system seeks to substantially eliminate the need forhandwritten notes and feed cards through the use of portable computersduring the feed ration assignment and delivery process, it suffers froma number of shortcomings and drawbacks. Specifically, this prior artsystem and method requires that the feedbunk reader assign particularfeedtrucks and drivers to deliver specified loads of feed to specifiedsequences of pens along a prioritized feed route during each physicalfeeding cycle. Thus, the amount of feed to be loaded onto each assignedfeed truck must be predetermined by the feedbunk reader in advance ofcommencing feed delivery operations. Consequently, this prior art methodof feed ration assignment and delivery requires the feedbunk reader andhis computer (i) be physically present at the feedmill during feed truckloading operations, or (ii) to produce load printouts (e.g. cards) priorto commencing feed ration delivery operations.

[0006] In short, by directly controlling the “feed load” assignmentprocess in prior art systems, the feedbunk reader has been unnecessarilyconstrained within the feedlot, and consequently, prevented fromperforming tasks more suitable to his knowledge and skill such as, forexample, determining the type and quantity of ration to be fed toanimals, determining the condition of cattle and pens, and the like.

[0007] Thus, there is a great need in the feedlot management art for animproved system and method for assigning and delivering feed rations toanimals in a feedlot.

OBJECTS AND SUMMARY OF PRESENT INVENTION

[0008] Accordingly, it is a primary object of the present invention toprovide a computer-assisted method and apparatus for feeding animals ina feedlot in a manner which overcomes the problems associated with priorart systems and methodologies.

[0009] It is a further object of the present invention to provide suchapparatus in the form of a computer network which liberates the feedbunkreader from specifying feed load assignments, without surrenderingsupervisory control over the quality of performance exercised indelivering assigned feed rations to animal pens in the feedlot.

[0010] A further object of the present invention is to provide anapparatus in the form of a computer network which coordinates an animalfeedlot operations and management system, wherein each feedlot vehicleemployed therein has an on-board computer system which uses coordinateacquisition techniques supported by global (satellite-based) positioningsystem (GPS) in order to carry out and manage animal feedlot operations.

[0011] A further object of the present invention is to provide such acomputer network having a plurality of computer systems, linked togetherin a telecommunication network, wherein a VR subsystem aboard eachfeedlot vehicle has access to a 3-D virtual reality modelling language(VRML) database containing a VR model of the feedlot which accuratelyreflects the position and orientation of the feedlot vehicle as it isnavigated through the feedlot in either its manned or unmanned mode ofnavigation.

[0012] It is a further object of the present invention to provide acomputer-assisted method of assigning and delivering feed rations in afeedlot, in which feed load assignments to feed delivery vehicles aredetermined at the feedmill in a manner independent of the feedbunkreader and feedlot manager, wherein each feedlot vehicle employedtherein has an on-board computer system which uses real-time virtualreality (VR) modelling (e.g. 3-D geometrical) and coordinate acquisitiontechniques, supported on an Internet-based digital communicationsplatform, in order to carry out and manage animal feedlot operations.These and other objects of the present invention will become apparentafter having the benefit of this disclosure.

[0013] The present invention is a feedlot computer network installationfor managing feedlot operations within a feedlot having a plurality ofanimal pens each having a feedbunk and containing one or more animalsfor feeding and health maintenance, the feedlot computer networkinstallation comprising a feedbunk reading computer system, installedonboard a feedbunk reading vehicle transportable to each the animal penin the feedlot, the feedbunk reading computer system including means forreceiving, storing and displaying the animal health data and feed rationdispensed data.

[0014] The feedlot computer network installation further comprises ameans for producing, storing and displaying feed ration delivery data,the feed ration delivery data specifying the assigned amount of feedration to be delivered to the feedbunks associated with a plurality ofanimal pens along a feeding route during a specified number of feedingcycles to be executed within a predetermined time period, and the feedration dispensed data indicating the actual amount of feed rationdelivered to the feedbunks of the animal pens during each the specifiedfeeding cycle, and a plurality of feed delivery vehicles each having acomputer system, each the feed delivery vehicle computer system beinginstalled onboard each the feed delivery vehicle and transportable toeach the animal pen in the feedlot and having storage means for storingan assigned feed load, and feed metering means for metering the actualamount of feed ration delivered to the feedbunks associated with thespecified sequence of animal pens, and data producing means forproducing the feed ration dispensed data indicative of the actual amountof feed ration delivered to the feedbunks, each the feed deliveryvehicle computer system being operatable by a feed delivery vehicleoperator assigned to the feed delivery vehicle and having means forreceiving, storing and displaying the feed ration delivery data providedfrom the feedbunk reading computer system, and means for receiving thefeed ration dispensed data produced from the metering means aboard thefeed delivery vehicle.

[0015] The feedlot computer network installation further comprises afeedmill computer system, installed at a feedmill in the feedlot andhaving means for receiving, storing and displaying the feed rationdelivery data produced from the feedbunk reading computer system, and afeedlot management computer system, installed aboard a feed-lotmanagement vehicle team, for receiving, storing and displaying the feedration delivery data, the feed ration dispensed data and the animalhealth data, for use by a feedlot manager of the feedlot. The feedlotcomputer network installation further comprises a digital datacommunications system integrated with the feedlot computer network, fortransferring digital data files among the feedbunk reading computersystem, the feedmill computer system, the plurality of feed deliveryvehicle computer systems, the feedlot management computer system and thefeedmill computer system, wherein the digital data file contain the feedration delivery data, the animal health data and the feed rationdispensed data; and a database for maintaining informationrepresentative of a model of the feedlot and objects contained therein,wherein each the computer system installed on-board each the pluralityof feed delivery vehicles, includes a subsystem for viewing an aspect ofthe model maintained in the database, vehicle information acquisitionmeans for acquiring vehicle information regarding (i) the position ofthe feed delivery vehicle relative to a first prespecified coordinatereference frame, and/or (ii) the state of operation of the feed deliveryvehicle, and information transmission means for transmitting the vehicleinformation to the database to specify in the position and/or the stateof operation of the feed delivery vehicle represented within the modelof the feedlot.

[0016] The feedlot computer network installation can also have a vehicleinformation acquisition means which comprises a satellite-based globalpositioning system, and the database is periodically up-dated using thevehicle information obtained from the satellite-based global positioningsystem. The feedlot computer network installation can also have animalinformation acquisition means for acquiring animal information regardingthe position of animals in the feedlot relative to second prespecifiedcoordinate reference frame, and/or the body-temperature of the animalsso that the feedlot model reflects the position and/or body-temperatureof the animals.

[0017] The feedlot computer network installation can also havesubsystems onboard each of the feed delivery vehicles, which comprises astereoscopic display subsystem which permits the driver tostereoscopically view any aspect of the model, including the driver'svehicle as it is being navigated through the feedlot during feedlotoperations. Each of the feed delivery vehicles can be remotelycontrolled through the feedlot by an operator using a remotely situatedworkstation. Each of the feed delivery vehicles can be equipped with astereoscopic vision subsystem having a field of view along thenavigational course of the feedlot vehicle.

[0018] The database can be maintained aboard an Internet server operablyassociated with an Internet-based digital communications network, withwhich each the subsystem is in communication. A replica of the databaseis maintained aboard each of the feedlot vehicles. A subsystem of thefeedlot computer network installation can be used to ascertain bothvehicle and animal information reflected in the model of the feedlot.The feedlot computer network installation can further comprise at leastone workstation for viewing the model of the feedlot during feedlotoperations. The feedlot computer network installation can furthercomprise at least one workstation for viewing the model of a feedlotvehicle in the feedlot and remotely navigating the feedlot vehicle alonga course in the feedlot.

[0019] Another aspect of the present invention is an animal feedlotmanagement system, which comprises a plurality of feedlot vehicles, eachemploying an onboard computer system which includes a feedlot computernetwork comprised of a feedbunk reading computer system, a means forproducing, storing and displaying feed ration delivery data, a feedmillcomputer system, a feedlot management computer system, a digital datacommunications system integrated with the feedlot computer network, afeedlot modelling subsystem for maintaining a geometrical databasecontaining a geometrical model of the feedlot and objects containedtherein, a coordinate acquisition subsystem for acquiring coordinateinformation specifying the position of the feedlot vehicle relative to acoordinate reference system symbolically embedded within the feedlot,and a geometrical database processor for processing information in thegeometrical database using the coordinate information in order to updatethe geometrical model.

[0020] The invention also includes the corresponding method of animalfeedlot management system for installation in an animal feedlot,comprising the steps of providing a feedlot computer network comprisedof a feed-bunk reading computer system, a means for producing, storingand displaying feed ration delivery data, a feedmill computer system, afeedlot management computer system, a digital data communications systemintegrated with the feedlot computer network; providing a feedlotvehicle with an on-board computer system in communication with thefeedlot computer network, the onboard computer system using real-time VRmodelling and coordinate acquisition techniques in order to maintain a3-D geometrical model of the feedlot and objects therein including thefeedlot vehicle; and navigating the feedlot vehicle while viewing anaspect of the feedlot model from within the feedlot vehicle.

BRIEF DESCRIPTION OF THE DRAWINGS

[0021]FIG. 1 is a schematic representation of a feedlot within which thefeedlot computer network of the present invention is installed in orderto practice the system and method of the present invention.

[0022]FIG. 2A1 is a block system diagram of the illustrative embodimentof the feedlot computer network of the present invention, showing the 1feed delivery computer system, the n^(th) feed delivery computer system,the feedmill computer system, the feedlot management computer system,the feedbunk reading computer system, the veterinary computer system,the nutritionist computer system, the VR workstation for the veterinaryvehicle, the VR workstation for the nutrition vehicle, the VRworkstation for the feedbunk reading vehicle, the VR workstation for thefeedlot manager at the central office (or feedmill), the VR workstationfor the feedmill operator, the VR workstation for the n^(th) feeddelivery vehicle, the local positioning subsystem (LIAS) for the (i=1)animal pen, the LIAS for the n^(th) animal pen, the satellites of theglobal positioning system (GPS), the GPS base station, and theInternet-based digital communications network for wireless mobilecommunications among the computer systems of the feedlot computernetwork.

[0023]FIG. 2A2 is a system block diagram illustrating the subcomponentsof the GPS base station in relation to the GPS satellites and anexemplary feedlot vehicle computer of the present invention.

[0024]FIG. 2A3 is a schematic diagram showing the local informationacquisition subsystem (LIAS) installed at the i^(th) animal pen in thefeedlot, for acquiring coordinate information specifying thebody-temperature and position of each RF-tagged animal and trans-mittingsuch information to each VR subsystem in the computer network in orderto continuously update the position and the temperature-coded color ofsuch RF tagged animals within the VR-based feedlot model maintainedwithin the system of the present invention.

[0025]FIG. 2B1 is a system block diagram of the computer system aboardeach feed delivery vehicle of the present invention.

[0026]FIG. 2B2 is a schematic representation of the n^(th) feed deliveryvehicle of the present invention shown operating in its“mannednavigation” mode of operation with the human operator using itsonboard VR subsystem while navigating the vehicle alongside a feedbunkbeing uniformly filled with an assigned amount of feed ration.

[0027]FIG. 2B2′ is a schematic representation of the n^(th) feeddelivery vehicle of the present invention shown operating in its“unmanned-navigation” mode of operation with a human operator sittingbefore its remote-situated VR workstation and remotely navigating thevehicle along a preplotted navigational course passing along a feedbunkbeing uniformly filled with an assigned amount of feed ration.

[0028]FIG. 2B3 is a schematic system diagram of the computer systemaboard the n^(th) feed delivery vehicle, showing the components used torealize the subsystems thereof.

[0029]FIG. 2B4 is a geometrical representation of a 3-D VR model of aportion of an animal feedlot (i.e. VR-based feedlot model), showing oneof its pens, a feedbunk and a feed delivery vehicle, originally createdin the centralized VR workstation and thereafter maintained and updatedwithin each of the VR subsystems in the feedlot computer network.

[0030]FIG. 2B5 is a geometrical representation of a 3-D VR-based modelof the n^(th) feed delivery vehicle, maintained within each VR subsystemof the first illustrative embodiment, in which a local coordinatereference system (i.e. coordinate reference frame) is symbolicallyembedded therein, and submodels of its front and rear GPS receivers areshown mounted along the centerline l_(FDV)(n) of the vehicle atendpoints P_(FDV1)(n) and P_(FDV2)(n), respectively, and its feeddelivery chute is shown pivotally mounted about a pivot point P_(FDV)(n)located along the vehicle's centerline l_(FDV)(n).

[0031]FIG. 2C is a system block diagram of the computer system aboardthe feedbunk reading vehicle of the present invention.

[0032]FIG. 2C1 is a schematic representation of the feed deliveryvehicle of the present invention shown operating in its“mannednavigation” mode of operation with a human operator using itsonboard VR subsystem while navigating the vehicle alongside a feedbunkbeing uniformly filled with an assigned amount of feed ration.

[0033]FIG. 2C1′ is a schematic representation of the feed deliveryvehicle of the present invention shown operating in its“unmannednavigation” mode of operation with a human operator sittingbefore its remote-situated VR subsystem and remotely navigating thevehicle along a preplotted navigational course passing along a feedbunkbeing uniformly filled with an assigned amount of feed ration.

[0034]FIG. 2D is a system block diagram illustrating the subsystemcomponents of the feedlot veterinary computer system in the computernetwork of the present invention.

[0035]FIG. 2D1 is a schematic representation of the feedlot veterinaryvehicle of the present invention shown operating in its“manned-navigation” mode of operation with the veterinarian using itson-board VR subsystem while navigating the vehicle alongside a feedbunkcontaining animals being visually inspected.

[0036]FIG. 2D2 is a schematic representation of the feed deliveryvehicle of the present invention shown operating in its“unmannednavigation” mode of operation with a veterinarian sittingbefore its remote-situated VR subsystem and remotely navigating thevehicle along a preplotted navigational course passing along a feedbunkcontaining animals being visually inspected by its on-board stereoscopicvision system.

[0037]FIG. 2E is a system block diagram illustrating the subsystemcomponents of the feedlot nutrition computer system in the feedlotcomputer network of the present invention.

[0038]FIG. 2E1 is a schematic representation of the feedlot nutritionvehicle of the present invention shown operating in its“manned-navigation” mode of operation with a nutritionist using itsonboard VR subsystem while navigating the vehicle alongside a feedbunkcontaining animals being visually inspected by its on-board stereoscopicvision system.

[0039]FIG. 2E2 is a schematic representation of the feed deliveryvehicle of the present invention shown operating in its“unmanned-navigation” mode of operation with a nutritionist sittingbefore its remote-situated VR subsystem and remotely navigating thevehicle along a preplotted navigational course passing along a feedbunkcontaining animals being visually inspected by its onboard stereoscopicvision system.

[0040]FIG. 2F is a system block diagram illustrating the subsystemcomponents of the feedmill computer system in the feedlot computernetwork of the present invention.

[0041]FIG. 2F1 is a schematic representation of the feedmill computersystem of the present invention showing a human operator sitting beforeits remote-situated VR subsystem during typical feedlot managementoperations within the feedmill.

[0042]FIG. 2G is a schematic block diagram illustrating the subsystemcomponents of the feedlot management computer system of the presentinvention.

[0043]FIG. 2G1 is schematic representation of the feedlot computersystem of the present invention showing a human operator sitting beforeits remotely-situated VR subsystem during typical feedlot managementoperation within the central office.

[0044]FIG. 3 is a system block diagram illustrating the subsystemcomponents of a feedlot vehicle computer system of the secondillustrative embodiment of the feedlot computer system shown in FIGS. 1and 2 of the present invention.

DETAILED DESCRIPTION OF THE INVENTION

[0045] An exemplary feedlot (such as those for which the presentinvention is intended) comprises a plurality of cattle pens, a feedmilland a base office. Typically, each cattle pen comprises fencing and anassociated feedbunk capable of holding a feed ration, i.e. an amount andtype of feed ration. The length of each feedbunk will vary from feedlotto feedlot and typically has a length commensurate with the length ofeach animal pen. The details of such operations are fully covered inU.S. Pat. No. 5,457,627, the teachings of which are incorporated byreference herein as if restated in full.

[0046] The feedmill typically comprises an enclosed building structurefor housing a feedmill computer system programmed for (i) assigning feedloads and pen sequences and (ii) controlling various feedmilloperations. In addition, elevated storage bins and feed ingredientmixing/metering equipment operably associated with a feedmill computersystem, are provided so that a specified feed load (i.e. comprising oneor more feed batches) can be milled and mixed (i.e. prepared) and thenloaded onto a feed delivery vehicle.

[0047] The base office typically comprises an enclosed buildingstructure for housing a feedlot management computer system and a feedlotfinancial accounting/billing computer system. Within this building, themanager of the feedlot typically maintains an office along with personalinvolved in financial accounting and billing operations.

[0048] The feedlot computer network, as contemplated by this disclosure,typically comprises a feedbunk reading computer system, a feedmillcomputer system, a feedlot veterinary computer system, a feedlotnutrition computer system, a feedlot management computer system, afinancial accounting computer system and feed delivery vehicle computersystems. The configurations for such a feedlot computer network areillustrated and described in U.S. Pat. No. 5,457,627, the teachings ofwhich are incorporated by reference herein, as stated above. It isunderstood, however, that alternative configurations for the computernetwork may be adopted without departing from the scope and spirit ofthe present invention.

[0049] A “feedbunk reader” collects data relevant to feedbunk managementoperations by driving a vehicle to the pens where head of cattle areconfined for feeding and/or veterinary care. In most larger feedlotoperations, the feedbunk reader, or like person carrying out herresponsibilities, has one primary function: to assign specific types andamounts of “feed rations” to be delivered to each pen and dispensedwithin the feedbunk associated therewith during the designated feedingcycles executed within a given day. As is well known in the art, thetype and total amount of feed ration assigned per head of cattle willdepend on a number of factors, including the particular stage of growthof the cattle. Typically, the number of feeding cycles scheduled by thefeedlot manager in a given day will range from one to four or more.

[0050] The primary functions of the feedlot manager, on the other hand,are to maintain daily records on the following items: (i) cattle held ineach pen; (ii) the ingredients/formulation of the feed rations; (iii)the feed ration consumption history of the cattle over a period of time;(iv) the identity of each driver of a feed delivery vehicle; (v) theidentification and description of feed ration delivery vehicles withinthe pens in the feedlot; and (vii) the charges to be billed to cattleowners for the feed rations delivered to their cattle. It is understood,however, that these functions may be allocated differently from onefeedlot to the next.

[0051] In order that the feedbunk reader can perform hisresponsibilities on a daily basis, a feedbunk reading computer system iscarried onboard his vehicle. The feedbunk reading computer system isprogrammed with various data processing routines and is interfaced withother computer systems within the feedlot computer network. In this way,the feedbunk reader can create, process, maintain, transmit and receivevarious types of data files among the other computer systems and therebycarry out his feed ration assignment functions in accordance with theprinciples of the present invention.

[0052] Preferably, the feedbunk reading computer system is realized by aportable (e.g. laptop or palmtop) computer system commerciallyavailable. In this way, the system can be easily moved into and out ofthe feedbunk reader's vehicle, as desired or required. The portablefeedbunk reading computer system runs a computer program having a numberof different routines in order to carry out various data processing andtransfer operations within the computer-network. The minute details ofthe feedbunk reading computer system and some of the other subsystemsreferred to herein (such as the feed delivery vehicle computer system,etc.) can be found in U.S. Pat. No. 5,457,627.

[0053] The feed delivery vehicle computer system has telecommunicationsubcomponents such that each feed delivery vehicle computer system cantransmit or receive data files over the N different RF channelsavailable within the feedlot computer network. In order that each feeddelivery vehicle is capable of measuring the actual amount of feedloaded onto an assigned feed delivery vehicle at the feedmill andsubsequently dispensed into the feedbunks associated with an assignedpen subsequence, a weight scale is operably associated with feed loadstorage compartments onboard each feed delivery vehicle in a mannerknown in the art. The function of the scale is to provide an electricalsignal S₁ indicative of the total weight of the feed contained withineach feed load storage compartment. Signal S₁ is digitized and providedas input to the feed delivery vehicle computer system by way of asuitable data communication interface associated with a system bus. Bymeasuring the weight of the feed within a storage compartment andrecording these measurements in the associated feed delivery vehiclecomputer system, it is possible to compute the actual amount of feedration either (i) supplied to the feed load storage compartment duringthe feed loading process at the feedmill, or (ii) dispensed therefrominto the feedbunk of any pen in the feedlot. Such computations can beimplemented in a straightforward manner using programming techniquesknown in the art.

[0054] In order to ensure that feed is delivered to each feedbunk in asubstantially uniform manner, (i.e. equal amount of feed dispensed perlinear foot travelled by the feed delivery vehicle), a uniform feeddispensing control subsystem is installed onboard each feed deliveryvehicle. Such a subsystem has hardware and software components. Thehardware component comprises a hydraulically activated feed deliverymechanism which includes hydraulic valve electronically controlled bycontrol signals S_(HV) generated by the feed delivery vehicle computersystem and transmitted via a data communication port. In order that suchcontrol signals can be generated on a real-time basis within the feeddelivery vehicle computer system, a ground speed radar instrument ismounted onboard each delivery vehicle to measure the true ground speedof the vehicle and to generate an electrical signal S₂ indicativethereof. This signal is provided to the feed delivery vehicle computersystem. Signals S₁ and S₂ are sampled at a sufficient rate and areutilized by a Uniform Feed Dispensing Control Routine executed withinthe feed delivery vehicle computer system to produce control signalS_(HV) which is provided to the hydraulic valve of uniform feed deliverycontrol subsystem. In this way, the computer system onboard each feeddelivery vehicle controls the incremental dispensation of feed so foreach linear foot traversed by the feed delivery vehicle, a substantiallyconstant amount of feed ration is dispensed along the total length ofthe feedbunk. Preferably, each feed delivery vehicle computer isrealized by a portable (e.g. laptop or palmtop) computer systemreleasably mounted on the dashboard of the cab of the feed deliveryvehicle so that it can easily be utilized by the delivery vehicle driverwhen dispensing feed to feedbunks. The interconnection between thecommunication port and scale onboard the vehicle can be achieved using aconventional data communication cable.

[0055] A feedmill computer system is realized as a single computersystem. In order that data can be transmitted from and received by thiscomputer system, data communication ports are provided so that thefeedmill operator or other person at the feedmill can transmit orreceive data files over the N RF channels within the feedlot computernetwork.

[0056] In order that the feedmill is capable of measuring the actualamount of feed loaded onto any particular feed delivery vehicle, therelevant onboard scale is operably associated with a feed ration storagebin. The function of this scale is to provide an electrical signalindicative of the total weight of prepared feed ration contained withinthe storage bin. This signal is digitized and provided as input to thefeedmill computer system. By measuring the weight of the feed within thefeed ration storage bin and recording these measurements in the feedmillcomputer system, the actual amount of feed ration prepared and loadedonto a particular feed delivery vehicle can be computed in a straightforward manner.

[0057] Feed ingredient metering and mixing equipment at the feedmill arecontrolled by control signals generated by a Feedmill Control Programrunning within the feedmill computer system and transmitted to the restof the machinery. The feedmill computer system described above can berealized by any computer system capable of running software for (i)assigning feed load and pen subsequence assignments, and (ii)controlling the feed ingredient metering and mixing equipment at thefeedmill. Suitable feedmill control software is commercially availablefrom Lextron, Inc. under the tradename FLOWCON.

[0058] The feedlot management computer system physically interfaces withthe other computer systems within the feedlot computer network.Associated telecommunication ports comprise data communicationcontrollers, modems, N-channel RF transceivers and antenna, all seriallyconfigured. In this way, the personnel at the feedlot managementcomputer system can transmit or receive data files over the N RFchannels within the feedlot computer network.

[0059] A veterinary computer system can also interface with othercomputer systems within the network to transmit or receive data filesover the N RF channels within the feedlot. Preferably, the feedlotveterinary computer system is realized by a portable (e.g. laptop onpalmtop) computer system commercially available from one of manypossible vendors. In this way, the system can be easily moved into andout of the feedlot managers veterinarian's vehicle as desired orrequired. The veterinary computer system should run a computer programhaving a number of different routines which carry out various dataprocessing and transfer operations relating to veterinary health care ofthe cattle in the feedlot.

[0060] The adaptation of the satellite based global positioning systemto the present invention will now be described in detail in associationwith the attached figures. According to the present invention, a networksystem is provided for carrying out and managing operations within ananimal feedlot, in which each feed delivery vehicle employed thereinuses real-time VR modelling and coordinate acquisition techniques tocarry out and manage various types of feedlot operations, includingbunkreading, feed dispensing, and the delivering of animal health andnutritional care in the feedlot.

[0061] In the first illustrative embodiment, each feedlot vehicle has anon-board computer system which includes a VR subsystem that is incommunication with an Internet-based digital communications network thatsupports real-time multi-media information transfer. Each VR subsystemprovides access to a 3-D geometrical database (e.g. represented in VRML)storing information representative of a VR-based model of the feedlot aswell as animate objects (e.g. tagged animals) and inanimate objects(e.g. pens, alley ways, feedbunks, buildings, vehicles etc.) presenttherein. The VRML database is continually updated by a VRML databaseprocessor which uses information obtained from each feedlot computersystem, a satellite-based global positioning system (GPS), as well as alocal information acquisition subsystems (LIAS) integrated therewith.The primary function of each LIAS is to acquire information pertainingto the position and body-temperature of RF-tagged animals in thefeedlot, for use in maintaining the VR feedlot model. The VR subsystemaboard each feedlot vehicle includes an image display subsystem whichpermits the driver to stereoscopically view any aspect of the VR feedlotmodel, including the driver's vehicle as it is being operated andnavigated through the feedlot during feedlot operations. The VRsubsystem aboard each feedlot vehicle can be used by feedbunk readers,feed deliverymen, veterinarians, nutritionists, feedmill operators, andfeedlot managers alike.

[0062] In an alternative embodiment of the animal feedlot system, eachfeedlot vehicle can be remotely navigated through the feedlot by anoperator who sits before a VR workstation. The VR workstation allows theoperator to remotely navigate the vehicle through the feedlot using aVR-interface equipped with a stereoscopic vision subsystem having afield of view along the navigational course of the remotely controlledvehicle. A single operator can remotely navigate one or more feedlotvehicles simultaneously. The navigational courses of these remotelynavigated vehicles can be preprogrammed in an orchestrated manner toavoid collisions and optimize the time and energy required to carry outfeedlot operations, while reducing the operating costs of the feedlot aswell as the number of employees required to support its operations.

[0063] Referring to FIG. 1 of the Drawings, there is shown an exemplaryfeedlot 1 comprising several cattle pens 2, a feedmill 3 and a baseoffice (i.e. central office) 4. Typically, each cattle pen 2 comprisesfencing 5 and an associated feedbunk 6 capable of holding a feed ration,(i.e. an amount and type of feed ration). The length of each feedbunkwill vary from feedlot to feedlot and typically has a lengthcommensurate with the length of each animal pen.

[0064] Feedmill 3 typically comprises an enclosed building structure 8for housing office furniture and a feedmill computer system 9 programmedfor (i) assigning feed loads and pen subsequences and (ii) controllingvarious feedmill operations, the nature of which is well known in theart. At the feedmill, elevated storage bins 10A, 10B and 10C, and feedingredient mixing/metering equipment 11 operably associated with thefeedmill computer system 9, are provided so that a specified feed load(i.e. comprising one or more feed batches) can be milled and mixed (i.e.prepared) and then loaded onto a feed delivery vehicle 12 in a mannerknown in the art. Base office 4 typically comprises an enclosed buildingstructure 13 for housing office furniture, a feedlot management computersystem 14 and a feedlot financial accounting/billing subsystem 15Bassociated therewith, the nature of which will be described in greaterdetail hereinafter. Within this building, the manager of the feedlot(hereinafter “the feedlot manager”) typically maintains an office alongwith personal involved in financial accounting and billing operations,as well as animal nutrition and health care.

[0065] The feedlot operations and management system of the presentinvention includes a feedlot computer network 16 which is shown embodiedwithin the exemplary feedlot of FIG. 1. As shown in FIG. 2, the feedlotcomputer network 16 comprises: a plurality of feed delivery (vehicle)computer systems 17, each installed aboard a plurality feed deliveryvehicles 12; feedmill computer system 9 installed at feedmill 3; feedlotmanagement computer system 14 installed at base office 4; feedbunkreading computer system 18 installed aboard a feedlot vehicle 24;veterinarian computer system 19A installed aboard a feedlot vehicle 21A;a nutritionist computer system 19B installed aboard a feedlot vehicle21B; VR workstation 20 at central office 4 for remote navigation ofveterinary vehicle 21A and VR-based operations management; VRworkstation 22 at central office 4 for remote navigation of thenutrition vehicle 21B and VR-based operations management; VR workstation23 at central office 4 for remote navigation of feedbunk reading vehicle24 and VR-based operations management; VR workstation 25 at centraloffice 4 for the feedlot manager; VR workstation 26 at feedmill 3 forthe feedmill operator; VR workstation 27 at feedmill 3 for the n^(th)feed delivery vehicle 12; a local positioning subsystem (LIAS) 28 forthe (i=l) animal pen; LIAS for the i^(th) animal pen; a plurality of GPSsatellites 30 for the global positioning system (GPS); a GPS basestation 31; and the Internet-based digital communications network 32 forwireless mobile communications among the computer system of the feedlotcomputer network. While the preferred configuration for the feedlotcomputer network is illustrated in FIG. 2, it is understood, however,that alternative configurations for the computer network may be adoptedwithout departing from the scope and spirit of the present invention.

[0066] As illustrated in FIG. 1, the “feedbunk reader” collects datarelevant to feedbunk management operations by driving feedlot vehiclesimilar to the bunkreading vehicle 24, the veterinary vehicle 21A ornutritionist vehicle 21B, to the animal pens where a head of cattle areconfined for feeding and/or veterinary care. In most larger feedlotoperations, the feedbunk reader, or like person carrying out hisresponsibilities, has one primary function: to assign specific types andamounts of feed (hereinafter “feed rations”) to be delivered to each penand dispensed within the feedbunk associated therewith during thedesignated feeding cycles executed within a given day. The type andtotal amount of feed ration assigned per head of cattle will depend on anumber of factors, including the particular stage of growth of thecattle. Typically, the number of feeding cycles scheduled by the feedlotmanager in a given day will range from one to four or more.

[0067] The primary functions of the feedlot manager, on the other hand,are to maintain daily records on the following items: (i) cattle held ineach. pen; (ii) the ingredients/formulation of the feed rations; (iii)the feed ration consumption history of the cattle over a period of time;(iv) the identity of each driver of a feed delivery vehicle; (v) theidentification and description of feed ration delivery vehicles withinthe pens in the feedlot; and (vi) the charges to be billed to cattleowners for the feed rations delivered to their cattle. It is understood,however, that these functions may be allocated differently from onefeedlot to the next.

[0068] The primary function of the feed deliverymen is to deliverassigned feed rations to a prioritized (sub)sequence of animal pens inthe feedlot. The primary function of the veterinarian is to diagnose andtreat sick animals with prescribed medication and nutrients. In certainfeedlots, a nutritionist may be employed for the purpose of ensuringthat the nutritional requirements of the animals are being satisfied.

[0069] As shown FIGS. 2B1, 2C, 2D, 2E, 2F and 2G, each feedlot computersystem 9, 14, 17, 18, 19A and 19B within the computer network of FIG. 2has a similar architecture which comprises an integration of thefollowing subsystems: an information file processing and managementsubsystem 34; a wireless digital data communication subsystem 35; and aVR subsystem 36. In addition, each feedlot computer system 9, 14, 17,18, 19A and 19B is provided with a remotely situated VR workstation 26,25, 27, 23, 20 and 21, respectively. If the feedlot computer system isinstalled aboard a feedlot vehicle, then the feedlot computer systemwill include a number of additional subsystems corresponding to thefunctions to be provided at the vehicle. Similarly, if the feedlotcomputer system is installed within a feedlot building (e.g. centraloffice or feedmill), then the computer system will include a number ofadditional subsystems corresponding to the functions to be providedwithin or about these buildings.

[0070] As shown in FIG. 2B1, the additional subsystems aboard the feeddelivery vehicle hereof include: a vehicle propulsion subsystem 37; avehicle navigation subsystem 38; a GPS-based coordinate informationacquisition subsystem 39; a feed delivery records subsystem 40 and anuniform feed dispensing subsystem 41. These additional subsystems areintegrated with the other subsystems aboard the feed delivery vehicle toprovide what can be viewed as single resultant system having a number ofdifferent modes of system operation.

[0071] As shown in FIG. 2C, the additional subsystems aboard thefeedbunk reading vehicle hereof include: a vehicle propulsion subsystem37; a vehicle navigation subsystem 38; a GPS-based coordinateinformation acquisition subsystem 39; and a feedbunk records subsystem42. As shown, these additional subsystems are integrated with the othersubsystems aboard the feedbunk reading vehicle to provide what can beviewed as single resultant system having a number of modes of systemoperation.

[0072] As shown in FIG. 2D, the additional subsystems aboard theveterinary vehicle hereof include: a vehicle propulsion subsystem avehicle navigation subsystem 38; a GPS-based coordinate informationacquisition subsystem 39; a veterinary (i.e. animal health) recordssubsystem 43; and a feedlot management records subsystem 44 (for whenthe vehicle is used by the feedlot manager). As shown, these additionalsubsystems are integrated with the other subsystems aboard theveterinary vehicle to provide what can be viewed as single resultantsystem having a number of modes of system operation.

[0073] As shown in FIG. 2E, the additional subsystems aboard thenutritionist vehicle hereof include: a vehicle propulsion subsystem 37;a vehicle navigation subsystem 38; a GPS coordinate informationacquisition subsystem 39; a nutrition records subsystem 45 and a feedlotmanagement records subsystem 44 (for when the vehicle is used by thefeedlot manager). As shown, these additional subsystems are integratedwith the other subsystems aboard the nutrition vehicle to provide whatcan be viewed as single resultant system having a number of modes ofsystem operation.

[0074] Optionally, a separate vehicle, like feedlot vehicle 19A or 19B,can be provided for exclusive use by the feedlot manager, in which caseit would be referred to as the “feedlot manager vehicle”.

[0075] For purposes of illustration, the substructure of the additionalsubsystems identified above will be described hereinafter with referenceto the schematic diagram of the feed delivery vehicle computer systemshown in FIG. 2B2.

[0076] As shown in FIG. 2F, the additional subsystems within thefeedmill hereof include a feed mixing/flow control subsystem 46, and afeed load records subsystem 47. As shown these additional subsystems areintegrated with the other subsystems of the feedmill computer system.

[0077] As shown in FIG. 2G, the additional subsystems within the centraloffice hereof include feedlot financial accounting/billing subsystem 15.As shown this additional subsystem is integrated with the othersubsystems of the feedlot management computer system.

[0078] The primary function of the information file processing andmanagement subsystem 34 is to provide general information fileprocessing and management capabilities to the operator of each feedlotcomputer system in the feedlot management network hereof. As shown inFIG. 2B3, this subsystem is realized by providing each feedlot computersystem with the following subcomponents: program storage memory 50 (e.g.ROM) interfaced with system buses 51 for storing of computer programsaccording to the present invention; information (file) storage databasememory 52 (e.g. RAM) for storing various data files; a centralprocessing unit (e.g. microprocessor) 53 for processing data elementscontained in these information files (e.g. formatted in HypertextMark-up Language (HTML) for representation on a hypermedia Systemrealized on the World Wide Web (WWW) of the Internet; a data entrydevice 54 (e.g. keyboard or keypad) and associated interface circuitry54A; and an ultra-compact hard-copy color printer 55 and associatedinterface circuitry 55A for printing hardcopy images of selected displayframes, including reports, tables, graphs, and color images of theVR-modelled feedlot.

[0079] The primary function of the wireless digital data communicationsubsystem 35 associated with each feedlot computer system is to providea World Wide Web (WWW) site on the Internet for each feedlot computersystem and LIAS 28i in the feedlot management system. The purpose ofsuch subsystems is to facilitate the transmission and reception (i.e.uploading and downloading) of information files among the feedlotcomputer systems, VR workstations and LIASs throughout the feedlotcomputer network hereof. In the illustrative embodiment, suchinformation files include: (1) HTML formatted feedlot information filesassociated with the various types of feedlot information files used tocarry out the feed ration assignment and delivery processes described inApplication Ser. No. 07/973,450; and (2) Virtual Reality ModellingLanguage (VRML) formatted files associated with the VR-based feedlotmodel. Collectively, these digital communication subsystems 35, incooperation with uplinks/downlinks, hubs, routers and communicationchannels, provide digital communications network 32 within thespatio-temporal extent of the feedlot. In the illustrative embodiment,digital communications network 32 provides wireless communication linksto each and every feedlot computer system aboard the feedlot vehiclesfor high-speed mobile communications required to realize the system andmethod of the present invention.

[0080] Preferably, digital communications network 32 comprise one ormore subnetworks of the Internet, and therefore is capable of supportingthe TCP/IP protocol in a switched data packet communications environmentwell known in the digital communications network art. In the firstillustrative embodiment of the present invention, digital communicationsnetwork 32 includes an Internet server 32A (i.e. “feedlot Web server”)which provides the feedlot with a site on the Internet (i.e. “feedlotweb site”). At this Web site server, each feedlot computer system andLIAS is provided with an assigned set of information storage fields forstoring (i.e. buffering) current coordinate information on vehicle ortagged-animal position, as well as information on the state of objects(e.g. vehicles, pens, tagged animals, etc.) in the feedlot at anyinstant in time. Periodically, (e.g. every second or fraction thereof)such information is remotely accessed from the feedlot Web site server32A by the VR subsystem (e.g. using its VR Web browser) 36, which isprovided at each feedlot computer system and VR workstation in thefeedlot. Such information file transfer is achieved using conventionalfile transfer protocols (FTPs) well known in the Internet communicationsart. In turn, each VR subsystem uses the information accessed fromfeedlot Web server 32A to update the VR model locally maintained aboardthe VR subsystem. This approach provides a way in which to update theVR-based feedlot model represented in each VR subsystem throughout thefeedlot computer network.

[0081] Provided with such capabilities, digital communications network32 can be viewed as comprising a plurality of information/communicationnodes realized by the different computer systems shown in FIG. 2 andthat these nodes (many of which being mobile) are linked together bywireless (electromagnetic-wave transmission) links in a manner in thatenables feedlot data file management and VR modelling and navigation inthe feedlot management system of the present invention.

[0082] As shown in the exemplary schematic diagram of FIG. 2B1, thewireless digital communication subsystem 35 associated with each feedlotcomputer system is realized by: a modem 67A interfaced to system bus 51by data communication port 67A; an transreceiver 68 interfaced to modem67; an antenna 69 connected to the transceiver permitting the feedlotcomputer system to transmit and receive information files over digitalcommunication network 32; and networking software 70 for supporting a3-D networking protocol allowing the coordination of multiple 3-Dobjects efficiently over the digital communication network (whilesupporting the standard Internet communication protocol TCP/IP). In thecase of feedlot vehicles, the antenna 69 can be mounted outside thevehicle and electrically connected to RF transceiver 68 usingconventional RF transmission cable.

[0083] Preferably, the 3-D networking software provided at each wirelessdigital communication subsystem (i.e. node in the network 32) is capableof supporting a 3-D networking protocol such as the Standard DistributedInteractive Simulation (DIS) protocol, to provide support for the VRmodelling and navigation functions of feedlot management system.Notably, the DIS protocol is capable of handing many different types of3-D data file formats which may be transmitted over the feedlot computernetwork. Such 3-D data formats include VRML and Open Flight, whichenable multiple 3-D objects (e.g. VR models of feedlot vehicles,animals, pens, buildings, feedlot equipment, feedlot resources such asmedicines, microingredients, feed ration components, water sheds,feedlot airplanes and helicopters, etc.) to be efficiently coordinatedover the digital communication network.

[0084] Consistent with coordinate referencing principles well known inthe VR modelling art, global and local coordinate reference systems(i.e. coordinate reference frames) are symbolically embedded within thestructure of the “real” animal feedlot being modelled within each VRsubsystem (and VR workstation) in the feedlot management system hereof.As illustrated in FIGS. 1, 2A3, 2B4 and 2B5 the following coordinatereference frames are symbolically embedded with the specified portion ofthe feedlot: (1) a global coordinate reference system is symbolicallyembedded within the “real” animal feedlot, denoted as R^(R) _(feedlot);(2) a local coordinate reference system is symbolically embedded withineach n^(th) “real” feedlot delivery vehicle, denoted as R^(R) _(n-fv);(3) a local coordinate reference system is symbolically embedded withinthe real feedbunk reading vehicle, denoted as R^(R) _(frv); (4) a localcoordinate reference is system symbolically embedded within the realveterinary vehicle, denoted as R^(R) _(vv); (5) a local coordinatereference system is symbolically embedded within the real nutritionistvehicle, denoted as R^(R) _(nv); and (6) a local coordinate referencesystem is symbolically embedded within each i^(th) real animal pen inthe feedlot, denoted as R^(R) _(i-ap).

[0085] In practice, coordinate information obtained using a commerciallyavailable satellite-based GPS is expressed in terms of latitude andlongitude measures, referenced with respect to an Earth-based coordinatereference system (i.e. R^(R) _(Earth)) historically centered inGreenwich, London, England. However, for purposes of simplicity, one maylocate R^(R) _(feedlot) as being spatially coincident with R^(R)_(Earth), and reference all points in the feedlot with respect to R_(R)_(Earth). Alternatively one may translate coordinates referenced inR^(R) _(Earth) to R^(R) _(feedlot) using homogeneous transformations,(i.e. mathematical mapping techniques) well known in the computergraphic and virtual reality modelling arts.

[0086] The function of the global coordinate reference system R^(R)_(feedlot) is to provide a reference framework within which the positionof all real objects in the feedlot can be specified. The function ofeach “local” coordinate reference system R^(R) _(n-fdv), R^(R) _(frv),R^(R) _(vv) and R^(R) _(nv) is to provide a reference framework withinwhich the position and orientation of the real feedlot delivery vehicleand its feed dispensing chute can be specified in relation to objects inthe feedlot (e.g. feedbunks during feed dispensing operations, andfeedmill filling chutes during feedtruck loading operations).

[0087] As will be described in greater detail hereinafter, the primaryfunction of each VR subsystem is to maintain (i.e. update) a 3-D VRmodel for the feedlot and objects contained therein. Preferably, this VRfeedlot model may be viewed as a collection of VR-based (sub)models,such of which is expressed using VRML well know in the VR modelling art.In the illustrative embodiment, VRML is used to design and create thefollowing VR models on central VR workstation 71. Namely: a VR model ofthe feedlot and the objects contained therein, namely: (1) a VR model of“real” animal feedlot, denoted as M_(feedlot); (2) a VR model of eachn^(th) “real” feed delivery vehicle, denoted as M_(n-fdv); (3) a VRmodel of the real feedbunk reading vehicle, denoted as M_(frv); (4) a VRmodel of the real veterinary vehicle, denoted as M_(vv); (5) a VR modelof the real nutritionist vehicle, denoted as M_(nv); (6) a VR model ofeach i^(th) animal pen in the feedlot, denoted as M_(i-ap); and (7) a VRmodel of each j^(th) animal “tagged” in the i^(th) real animal pen inthe feedlot, denoted as M_(j-animal); etc. Ultimately are maintained andupdated in each VR subsystem within the feedlot management systemhereof.

[0088] In order to maintain correspondence between the “real” feedlotand the objects therein and the “VR models” thereof, it is alsonecessary to symbolically embed the following coordinate referenceframes with the specific portions of the feedlot, namely: (1) a globalcoordinate reference system symbolically embedded within the “VR model”of the animal feedlot, denoted as R^(M) _(feedlot); (2) a localcoordinate reference system symbolically embedded within the “VR model”of each n^(th) feed delivery vehicle, denoted as R^(M) _(n-fdv); (3) alocal coordinate reference system symbolically embedded within the VRmodel of the feedbunk reading vehicle, denoted as R^(M) _(frv); (4) alocal coordinate reference system symbolically embedded within the VRmodel of the veterinary vehicle, denoted as R^(M) _(vv); (5) a localcoordinate reference system symbolically embedded within the VR model ofthe nutritionist vehicle, denoted as R^(M) _(nv); and (6) a localcoordinate reference system symbolically embedded within the VR model ofeach i^(th) animal pen in the feedlot, denoted as R^(M) _(i-ap). Whileit is understood that these VR models embody information of anon-graphical nature, the geometrical aspects of certain of such VRmodels are shown in FIGS. 2A3, 2A4 and 2B2 for illustrative purposes.

[0089] In accordance with VR-world building (i.e. modelling) principlesand techniques, a number of relations are established and maintained bythe VR subsystem within the feedlot management system, namely: (1) thecoordinate reference frame R^(R) _(feedlot) symbolically embedded withinthe real feedlot is deemed isomorphic with corresponding coordinatereference frame R^(M) _(feedlot) symbolically embedded within the VRmodel thereof M_(feedlot); (2) the coordinate reference frame R^(R)_(n-fdv) symbolically embedded with each real n^(th) feed deliveryvehicle is deemed isomorphic with corresponding coordinate referenceframe R_(n-fdv) symbolically embedded within each VR model thereofM_(n-fdv); (3) the coordinate reference frame R^(R) _(n-fdv)symbolically embedded within each real n^(th) feedbunk reading vehicleis deemed isomorphic with corresponding coordinate reference frame R^(M)_(frv) symbolically embedded within each VR model thereof M_(frv); (4)the coordinate reference frame R^(R) _(vv) symbolically embedded withinthe real veterinary vehicle is deemed isomorphic with correspondingcoordinate reference frame R^(M) _(frv) symbolically embedded within theVR model thereof M_(vv); (5) the coordinate reference frame R^(R) _(nv)symbolically embedded within the real nutritionist vehicle is deemedisomorphic with corresponding coordinate reference frame R^(M) _(nv)symbolically embedded within the VR model thereof M_(nv); and (6) thecoordinate reference frame R^(R) _(i-ap) symbolically embedded withinthe i^(th) real animal pen is deemed isomorphic with correspondingcoordinate reference frame R^(M) _(i-ap) symbolically embedded withinthe VR model thereof M_(i-ap).

[0090] Using mathematical mapping techniques, such as homogeneoustransformations, position coordinates specified within global coordinatereference system R^(M) _(feedlot) can be easily related to coordinatesspecified within any local coordinate reference system e.g. R^(M)_(n-fdv). Consequently, coordinate information pertaining to theposition of a feed delivery vehicle in the feedlot referenced withrespect to R^(R) _(feedlot) (derived aboard a feed delivery vehicle) canbe translated into coordinate information referenced to any other localreference frame, e.g. coordinate frame R^(M) _(i-ap) during feeddispensing operations involving the i^(th) animal pen and feedbunk. Withsuch capabilities provided aboard each feed delivery vehicle, theoperator thereof can display on his dash-mounted LCD (navigation) panel,an updated VR model of the feed delivery vehicle (including its feeddispensing chute) shown in spatial relation to objects (e.g. feedbunks)modelled in the feedlot during vehicle operation. Other advantages ofthis subsystem will become apparent hereinafter.

[0091] For additional information on VR systems and techniques,reference can be made to the textbook entitled “Virtual Reality Systems”(1995) by John Vince, ACM SIGRAPH Series, published by Addison-Wesley,incorporated herein by reference.

[0092] As shown in FIGS. 2Bl, 2C, 2D, 2E, 2F and 2G, the VR sub-system36 associated with each feedlot computer system within the feedlotcomputer network is realized as integration of the following subsystems:a VR modelling subsystem 73; the stereoscopic image display subsystem74; and th stereoscopic vision subsystem 75. Also, each VR workstation20, 21, 23 and 27 associated with each feedlot vehicle VR workstations25 and 26 installed in the feedmill and base office also includes a VRsubsystem 36 allowing a human operator to establish a VR interfacetherewith.

[0093] The structure of the above-identified subsystem components willbe described in greater detail below. In general, the primary functionof VR modelling subsystem 73 is to support real-time VR modellingthereof within the animal feedlot so that a human operator sittingaboard a feedlot vehicle, or before a VR navigational workstation (20,21, 23, 25, 26 or 27), can view VR-based feedlot models during feedlotoperations. As shown in FIG. 2B3, the VR modelling subsystem 73 of thefirst illustrative embodiment, is realized by providing each feedlotcomputer system (and VR workstation) with an assembly of subsystemcomponents, namely: a 3-D geometrical VRML) database 77 for storinginformation representative of 3-D VR models of the feedlot, its pens,feedbunks and alleyways, as well as each feedlot vehicle and RF-taggedanimal therein; and a 3-D geometrical VRML) database processor 78. Theprimary function of 3-D VRML database processor 78 is to process the 3-Dgeometrical (i.e. VR) models represented by VRML or like informationfiles stored within 3-D database 77 in order to: (i) update the position(and orientation) of objects in the feedlot during feedlot operations aswell as during normal movement throughout the feedlot and; (ii) generateand render stereoscopic image pairs from the 3-D geometric models alonga viewing direction specified by a set of viewing parameters that theymay be generated in any number of ways. Another function of the 3-D VRMLdatabase processor 78 is to receive updated information on updated VRmodels, typically transmitted from VR subsystems over the network 32during feedlot operations. For more detailed information on VRML and itsinformation file structure, reference should be made to “VRML-Browsingand Building Cyberspace” 1995, by Mark Pesce, published by New RidersPublishing, Indianapolis, Ind., incorporated herein by reference.

[0094] The primary function of the central VR workstation 71 is todesign and construct the original 3-D VR world model of: (i) the feedlot(e.g. buildings, animal pens and feedbunks, water-towers and sheds etc);(ii) feed delivery and other vehicles within the feedlot; as well as(iii) all or some (i.e. tagged) animals within the feedlot whoseposition and condition (e.g., ear temperature) are to be tracked andrepresented as part of the central VR-based feedlot model of the presentinvention. Preferably, VR workstation 71, and all other workstations inthe feedlot, are each realized using a Silicon Graphics Reality-Engine™or Indigo™ 3-D computer graphics workstation, or other suitable PC-based3-D computer graphics workstation located inside the feedmill, orelsewhere within or outside of the feedlot proper. Suitable virtualreality (VR) world modelling software for constructing such 3-D VRmodels of the feedlot (and objects therein) on such workstation iscommercially available from a number of software vendors including, forexample: Superscape VRT™ Authoring Software from Superscape Limited, ofPalo Alto, Calif.; from Sense 8™ VR Modeling Software Sense 8 Corp. ofSausilito, Calif.; and dVISETM VR World Authoring Software from DivisionIncorporated of Redwood City, Calif. In the illustrative embodiment,each VR workstation is provided with a keyboard, mouse-like 3-D pointingdevice, and a Grand Prix!™ driving-wheel (input device) fromThrustmaster, Inc., which clamps to the remote-operator desktop andoffers steering and quick acceleration, braking, and shifting control onthe steering wheel in order to remotely navigate a feedlot vehiclehereof.

[0095] By using VRML information files for each remotely-navigatedvehicle in the feedlot, it also possible to represent in the VR model,virtually any type of quantifiable or qualifiable vehicle attribute,such as for example: (1) the quantity of feed remaining aboard the feeddelivery vehicle; (2) the subsequence of animal pens at which feedration has been previously dispensed along the prioritized feedingroute; (3) the state of the propulsion subsystem (e.g. idle, forwardmotion, reverse motion, dispensing feed in the feedbunk, etc); (4)emergency situation in progress; and the like, and (5) the temperatureof an RF-tagged animal in a particular animal pen. Such attributes,continuously updated in VRML information files transmitted to the eachfeedlot computer system and VR workstations 20, 21, 23, 25, 26 and 27,provides each human operator aboard a feedlot vehicle in itsmanned-navigational mode, or behind a VR workstation in itsunmanned-navigational mode, with full-scale, (i) real-time VR modellingand interaction capabilities; and (ii) current information on the stateof each feedbunk and tagged animal in the feedlot. Once created, the 3-DVR models of the feedlot are transferred to each VR modelling subsystem73 by way of wireless digital communication network 32 linking togetherthe VR workstations and feedlot computer systems in the feedlot.

[0096] The function of the mobile coordinate information acquisitionsubsystem 36 aboard each feedlot vehicle is to support real-timeacquisition of both locally and globally referenced coordinateinformation. The globally referenced coordinate information specifiesthe position and orientation of the feedlot vehicle within the animalfeedlot, relative to global coordinate reference frame R^(R) _(feedlot).The locally referenced coordinate information specifies the position andorientation of any substructure aboard the feedlot vehicle (e.g. feeddispensing chute, etc) during feedlot operations with respect to thelocal coordinate frame symbolically embedded in the vehicle (i.e. R^(R)_(feedlot-vehicle)). Such acquired coordinate information it ultimatelyused to derive coordinates specifying the position, orientation andconfiguration of the feedlot vehicle in relation to all other objects inthe feedlot (e.g., feedbunks, pens, alleyways, etc.). Once acquired,this coordinate information is transmitted from the feedlot vehicle(through the digital communication network 32 hereof) to each VRsubsystem 36 within the feedlot computer network, including the VRworkstations 20, 21, 23, 25, 26, 27 and 71 in the feedlot.

[0097] In accordance with the present invention, each feedlot vehiclemay include one or more subsystems for measuring the coordinate position(and/or orientation) of particular substructures aboard the vehicle(e.g., feed dispensing chutes, ground tiller, etc.), relative to“locally” established coordinate reference frame symbolically embeddedtherein. Coordinate information locally inquired through such peripheralmeasuring devices permitted VR submodels of such substructure to becontinuously updated for transmission over the wireless digitalcommunication vehicle throughout the feedlot.

[0098] An example of such an on-board coordinate acquisition subsystemis the chute positioning subsystem installed aboard each feed deliveryvehicle of the present invention. In the illustrative embodiment, thissubsystem is realized aboard the feedlot vehicle by providing the feeddelivery computer system with the following additional subsystemcomponents: a data input port 80 for receiving encoded digital signalsfrom (i) chute angle sensor 81 associated with the pivot joint of thefeed dispensing chute located at pivot point PFDCI (n) in FIG. 2B5 toprovide a measure of chute angle (defined in FIG. 2B5, and (ii) anultra-sonic (or like) height or distance sensor for sensing the heightof the end of the feed dispensing chute relative to the ground surface(which is assumed to be substantially planar in the feedlot) to derivethe z coordinate of pivot point P_(FDC1)(n) in R^(R) _(feedlot).

[0099] Globally referenced coordinate information acquired by eachfeedlot vehicle and transmitted to all other VR subsystems in thefeedlot management system is used to automatically update the positionand orientation of the vehicle within the VR model thereof. This allowsany one in the feedlot, with access to a VR subsystem (via its imagegenerator/display subsystem) to ascertain (through display-screenvisualization) exactly where any feedlot vehicle is at any particularinstant of time, regardless of the navigational mode that it isoperating in. Such information can be useful in the event one vehicleoperator requires help, information or other form of assistance.

[0100] In order to realize such “global” coordinate acquisitionfunctionalities within the feedlot management system, the mobilecoordinate acquisition subsystem 39 aboard each feedlot vehicle computersystem further comprises an array of subsystem components, namely: atleast one (but preferably two) dual-band high-resolution GPS signalreceivers 82A and 82B interfaced with the systems bus by interfacecircuitry 83A and 83B, for receiving electromagnetic GPS signals fromthe GPS satellites 30 and the GPS base station 31 and producing digitalcoordinate signals indicative of the coordinate position of the GPS fromwhich it was transmitted; and a GPS signal processor 84 operablyconnected to the GPS signal receivers for processing the digitalcoordinate signals produced therefrom in order to obtain coordinateposition data of the GPS receiver relative to a global feedlot referencesystem R^(R) _(feedlot). In the illustrative embodiment, the dual-bandhigh-resolution GPS signal receivers 82A and 82B are mounted maximallyapart from each other on the feedlot vehicle body (i.e. at the ends ofthe longitudinal axis of the vehicle body). In the illustrativeembodiment, the GPS signal processor 84 is also programmed to processcoordinate information on GPS receiver location in order to compute: (1)the speed of the feedlot vehicle relative to the feedbunks and otherstationary objects in the feedlot; and (2) the coordinate valuesassociated with the location of the GPS receivers referenced to localcoordinate reference system R^(R) _(n-pdv).

[0101] The GPS receivers 82A and 82B aboard each feedlot vehicle may beoperated in one of two modes: Stand-Alone Mode; or Differential Mode. Ineither mode, each GPS receiver receives two carrier signals L1 and L2transmitted from each GPS satellite. In the illustrative embodiment, thefrequency of the L1 carrier is 1,575.42 MHZ and the frequency of the L2carrier is 1,227.6 MHZ. The carrier signals L1 and L2 are modulated withtwo types of code and a navigation message. In the illustrativeembodiment, the two codes used to modulate the carriers L1 and L2 arethe P code (i.e. the precision code) and the C/A code (i.e. thecourse/acquisition code). In order to obtain the highest degree ofpositional precision within the subsystem, the P code (or more precisecode) is used to modulate the carrier signals transmitted by the GPSsatellites during GPS signal transmission and also by GPS receiversduring GPS satellite signal reception. The function of each GPS receiverthen is to receive these modulated carrier signals transmitted from theGPS satellites, and thereafter recover the codes and any navigationmessage transmitted thereby, to compute the latitude and longitude ofeach GPS receiver and thus ultimately the x, y, z coordinates thereof inthe coordinate frame R^(R) _(feedlot).

[0102] In the Stand-Alone Mode, each GPS receiver operates exactly asdescribed above, that is, it receives signals from GPS satellites anduses those signals to calculate its position with respect to R_(feedlot)in the following manner. The GPS satellites modulate the L1 and L2carriers with the P code, C/A code and navigation information. Thenavigation information includes the orbital position of the satellitewith respect to coordinate system R_(feedlot), expressed in terms ofthree position coordinates designated by (Us, Vs, Ws). Thus, bydemodulating the carriers received at the GPS receiver, the GPS receivercan obtain the coordinate position of the satellite referenced to R^(R)_(Earth). The GPS receiver can also measure the time required for eachacquired satellite signal to travel from the satellite to the GPSreceiver. The GPS receiver accomplishes this timing function bygenerating a code identical to the satellite code (P code for militaryreceivers and C/A code for commercial receivers). The GPS receiver thencode locks this replica with the received code by shifting the starttime of the replica until maximum correlation is obtained. Since thereceiver knows the nominal starting time, “Ts”, for the received code(which is repeated at regular predetermined intervals) and it knows thetime shift, “Tr”, required to obtain code lock, it knows the time forthe signal-to travel from satellite to the receiver, which is just thedifference between the nominal start time for the satellite signal andthe start time for the receiver replica. Multiplying this transit time“Tr−Ts” by the speed of the light “c” gives the nominal distance (orpseudo range) “P” between the GPS satellite and the GPS receiver:

P=(Tr−Ts)c

[0103] This distance P can also be expressed as the vector distancebetween GPS satellite and GPS receiver using earth based coordinates(referenced to R^(R) _(feedlot)):

P=[(Us−Ur)²+(Vs−Vr)²+(Ws−Wr)²]^(½)

[0104] The three known variables in the above mathematical expressionare the position coordinates of the satellite designated by (Us,Vs,Us),whereas the three unknown variables thereof are three positioncoordinates of the GPS receiver designated by (Ur, Vr, Wr). If signalsfrom three GPS satellites are acquired at each GPS receiver, then theseunknowns can be determined using the following mathematical relations:

P1=[(Us1−Ur)²+(Vs1−Vr)²+(Ws1−Wr)²]^(½)

P2=[(Us2−Ur)²+(Vs2−Vr)²+(Ws2−Wr)²]^(½)

P3=[(Us3−Ur)²+(Vs3−Vr)²+(Ws3−Wr)²]^(½)

[0105] wherein the position coordinates (Us1,Vs1,Us1), (Us2,Vs2,Us2) and(Us3,Vs3,Us3) in the above mathematical expression are encoded in thereceived GPS signals and specify the position of the transmitting GPSsatellite with respect to R^(R) _(feedlot).

[0106] As taught at pages 205-206 in GPS SATELLITE SURVEYING (1990) byA. Leick, published by John Wiley and Sons (ISBN 0-471-81990-5),incorporated herein by reference, it is possible to correct for GPSreceiver clock errors provided that signals from four GPS satellites areacquired at each GPS receiver. In such a case, a term “r” can be addedto provide the following equations:

P1=[(Us1−Ur)²+(Vs1−Vr)²+(Ws1−Wr)² +dTr*c] ^(½)

P2=[(Us2−Ur)²+(Vs2−Vr)²+(Ws2−Wr)² +dTr*c] ^(½)

P3=[(Us3−Ur)²+(Vs3−Vr)²+(Ws3−Wr)² +dTr*c] ^(½)

P4=[(Us4−Ur)²+(Vs4−Vr)²+(Ws4−Wr)² +dtr*c] ^(½)

[0107] wherein the position coordinates (Us1,Vs1,Us1), (Us2,Vs2,Us2),(Us3,Vs3,Us3) and (Us4,Vs4,Us4) in the above mathematical expressionsare encoded in the received GPS signals and specify the position of thetransmitting GPS satellite with respect to R^(R) _(feedlot). This schemeprovides a way of achieving improved position resolution.

[0108] There are a number of errors associated with the Stand Alone Modeof operation described above. These include errors in the satelliteatomic clocks, geometric resolution errors, and errors associated withthe propagation of the carrier signals through the atmosphere. All ofthese errors can be eliminated by operating the system in theDifferential Mode. In Differential Mode, each GPS receiver, in additionto monitoring GPS satellite signals, will receive error informationtransmitted from GPS base station 31 located at some known position. Asshown in FIG. 2A2, the GPS base station 31 includes a receiver 86 formonitoring GPS satellite signals transmitted from the GPS satellites. Inaddition, the GPS base station includes a computer system 87 which haspreprogrammed into its memory the precise position at which it islocated relative to the global feedlot reference system R_(feedlot). Thefunction of the GPS base station computer 87 is to compare its knownposition (stored in its memory) with its coordinate position computedusing the GPS satellite signals. The difference (i.e. error) between (i)the known GPS base station location and (ii) the calculated GPS basestation location is used by modem 88 to modulate a carrier signalproduced from transmitter 89. This transmitted error signal is receivedby the GPS receivers mounted on each feedlot vehicle. Using the receivederror measure, each such GPS receiver adjusts (i.e. corrects) inreal-time its calculated position, thereby overcoming the limitations ofthe GPS receivers operated in the Stand-Alone Mode.

[0109] In many instances, the veterinarian or bunkreader may desire toquickly determine information pertaining to a particular animal in thefeedlot, (e.g., the location of a particular animal within a given pen,its temperature at a particular time of the day, etc.). As shown in FIG.2A3, the feedlot management system hereof realizes this function byinstalling a local information acquisition subsystem (LIAS) 28i in thefeedlot, preferably, at each animal pen thereof. The function of eachi^(th) LIAS of the illustrative embodiment is to (i) locally acquirecoordinate information regarding the position of each “RF-tagged” animalwith respect to the i^(th) local animal-pen reference system R^(R)_(i-ap), as well as the body temperature of the RF-tagged animal, and(ii) broadcast such information to each VR subsystem associated with thedigital data communication network by way of feedlot Web server 32A,described above. Notably, when the coordinate information regarding theposition of the RF-tagged animal is received at each VR subsystem, suchcoordinate information is automatically translated to the coordinatereference frame of the VR subsystem receiving the local coordinateinformation so that the complete VR-based feedlot model (including thetagged animal) can be updated. Preferably, the temperature informationon each tagged animal is used to “color” code its corresponding VRanimal model maintained in the VR subsystems. As shown in FIG. 2A3, eachLIAS of the illustrative embodiment comprises: a plurality of miniaturelocal position sensing (LPS) transmitters 90 (in the form of tags), eachattachable to the ear or about the neck of each j^(th) animal 91 in thei^(th) animal pen, and capable of transmitting an encodedelectromagnetic signal (e.g. in the RF range) with a transmission rangespatially encompassing the i^(th) pen; a three LPS signal receivers 92A,92B and 92C mounted apart from each other along the i^(th) animalfeedbunk, for receiving (at different points in space) the signaltransmitted from the LPS transmitter on each tagged animal in the pen,and processing the same in LPS signal processor 93 in order to determinethe coordinate position (in terms of x,y,z) of each such head of cattlewith respect to R^(R) _(i-ap); a temperature-sensing RF chip 200,implanted in the ear of each such animal, sensing the body-temperatureof he tagged animal and transmitting a digitally-encoded RF carriersignal carrying the sensed body temperature; an RF temperature-signalreceiver 201 mounted along the feedbunk for receiving and processing thedigitally-encoded RF-carrier signals transmitted fromtemperature-sensing RF chips 200; and a wireless digitalcommunication-subsystem 94, like subsystem 35, for transmitting suchanimal position-coordinate and body-temperature information to each VRsubsystem in the feedlot computer network by way of feedlot Web server32A.

[0110] In the illustrative embodiment, each RF tag 90 periodicallyproduces an encoded RF signal of a particular frequency f_(j). The RFtag includes a battery power supply, an RF transmitter circuit forproducing an RF signal, and programmable circuitry for digitallyencoding the transmitted RF signal in a manner well known in theRF-tagging art. At each i^(th) animal pen, a local coordinate referencesystem R^(R) _(ipen) is symbolically embedded therein, as shown in FIG.2A3. Each LPS receiver receives the RF signal transmitted from eachj^(th) tagged animal, and using coordinate geometry principles, computesdistance between the transmitting RF tag and the LPS receiver. Usingthese three distance measures and the known coordinates of the three LPSreceivers, the LPS signal processor 93 computes the (x,y,z) coordinatesof the j^(th) RF tag relative to the local coordinate frame R^(R)_(ipen). Computed in real-time, this locally referenced animalcoordinate information is transmitted by subsystem 94 to each VRsubsystem within the feedlot management system by way of the wirelessdigital communication network 32. At each VR subsystem, the coordinateinformation is used to update the VR model of the feedlot in a mannerdescribed above. Through coordinate translation, any feedlot vehiclepulled up to an animal pen, can determine exactly where, relative to itslocal coordinate reference frame, any RF tagged animal is within theanimal pen, greatly simplifying the location and treatment of theanimal.

[0111] In the preferred embodiment, the vehicle operator (e.g. thefeedlot veterinarian) can automatically ascertain the body temperatureof particular animals in the pen by viewing the animal's correspondingVR model maintained aboard the VR subsystem. The temperature sensing RFchip 200 implanted within the ear of each tagged animal produces a RFcarrier signal digitally modulated by the sensed body-temperature of theanimal. Different frequencies or codes can be used with each RF chip 200to establish cross-talk free channels for each tagged animal in a mannerknown in the prior art. The RF temperature signal receiver 201 at eachanimal pen (or otherwise in the feedlot) receives the RF signal fromeach RF chip 200 employed in the animal pen (or feedlot), demodulatesthe same to detect the transmitted body-temperature of the taggedanimal, and then provides this information to digital communicationsubsystem 94 for transmission to a preassigned subsite (i.e. informationfield) maintained at the feedlot Web server 32A. Functioning as a Web orVR browser, each VR subsystem 36 in the feedlot accesses the updatedtemperature information from the feedlot Web server 32A and uses thesame to update the VR animal models maintained at each VR subsystem inthe feedlot management system.

[0112] As shown in FIG. 2A3, the LIAS at each animal pen may alsoinclude one or more real-time stereoscopic vision subsystems 300 mountedin the feedlot to provide a field of view (i) along the length of eachfeedbunk (for remote bunk reading operations carried out at a VRworkstation), as well as (ii) into the animal pen where the containedanimals are allowed to roam (for remote pen and animal inspectioncarried out at a VR workstation). Such stereoscopic camera subsystemsare commercially available from VRex, Inc. of Hawthorne, N.Y. Thedigital video output from such stereoscopic cameras can be provided tothe digital communication subsystem 94 at the animal pen where it isproperly packeted and then transmitted to the feedlot Web server 32A,for access by any VR subsystem (i.e. VR browser) 36 as theInternet-based digital communication system of the feedlot computernetwork.

[0113] As shown in FIG. 2A3, an information entry/display terminal 210is also provided at each animal pen in order to enter information to anddisplay information from the feedlot computer network. This terminal 210is realized as a separate computer subsystem connected to network 32 byway of its digital communication subsystem 35.

[0114] In general, the primary function of the stereoscopic imagedisplay subsystem 74 associated with each VR subsystem is to visuallydisplay (to the eyes of an operator) high-resolution stereoscopic (ormonoscopic) color images of feedlot information files as well as anyaspect of the continuously updated VR-based feedlot model. In theillustrative embodiment, each feedlot vehicle operator is provided withtwo modes of “VR feedlot model navigation”, which is to be distinguishedfrom the two modes of “real feedlot navigation” provided for navigatingthe real feedlot vehicle through the real feedlot, i.e.manned-navigational mode and unmanned-navigational mode. In the firstmode of VR feedlot model navigation, the global coordinates of the“real” feedlot vehicle (at each instant of time) determines the portionof the VR-based feedlot model in which the VR-model of the feedlotvehicle is automatically displayed on the LCD panel within the vehicleduring the manned-navigation mode of operation, or on the LCD panel ofthe VR workstation during the unmanned navigation mode of operation. Inthe second mode of VR feedlot model navigation, the global coordinatesselected by the input device of a feedlot operator (at each instant oftime) determines the portion of the VR-based feedlot model which isautomatically displayed on the LCD panel within the vehicle, or on theLCD panel of the VR workstation, whichever the case may be.

[0115] Typically, each feedlot vehicle operator will have a need to viewdifferent aspects of the VR-based feedlot model within his VR subsystem.For example, the feed delivery vehicle operator may desire to view, inreal-time, a plain view or rear-end view of the VR-based model of hisvehicle as he proceeds to navigate it alongside a feedbunk during auniform feed dispensing operation in accordance with the presentinvention.

[0116] By initiating a practice of color-coding particular sections ofthe VR-based model for each feedbunk in the feedlot, it is possible toconstruct a VR feedbunk model which visually indicates (by specificcolors or textures) those sections of the corresponding feedbunk alongwhich there appears to be abnormal or irregular feeding patterns. Bycomparing the current VR feedbunk model with the corresponding “real”feedbunk (in the purview of the bunkreader), it is possible for thebunkreader to deduce feeding patterns and trends which might suggest orrequire corrective measures by the veterinarian and/or nutritionist. Anadvantage of the VRbased feedbunk model is that the bunkreader,veterinarian and nutritionist can easily and quickly be informed ofparticular conditions in the feedlot by 3-D visualization of informationgathered on the state and condition of the feedlot.

[0117] Using the stereoscopic image display subsystem 74 of the presentinvention, color images of any aspect of the VR feedlot model can beprojected from any desired viewing direction selected by the vehicleoperator during manned as well as unmanned modes of vehicle navigation.In general, the viewing direction is specified by a set of viewingparameters which, in the illustrative embodiment, can be produced usingany one of a number of commercially available 3-D pointing devices whichcan be readily adopted for mounting on the dashboard adjacent the LCDpanel and easily (and safely) manipulated by the vehicle operator duringvehicle operation. Using such a pointing device, the vehicle operatorcan easily select the desired aspect of the VR feedlot model to beviewed during navigation, and feedlot operations (e.g. feed dispensingoperations).

[0118] In the illustrative embodiment, the stereoscopic image displaysubsystem 74 is realized by providing each feedlot computer systemhereof with subsystem components comprising: a stereoscopic LCD panel95; an associated display processor 96; and VRAM 97 for bufferingstereoscopic pairs to be displayed on LCD panel 95. The function of theLCD panel is to display (i) feedlot information files or portionsthereof, and (ii) 2-D high-resolution color images of the VR-based modelof the 3-D feedlot so as to support stereoscopic 3-D viewing thereoffrom any desired viewing direction in 3-D space.

[0119] A variety of stereoscopic 3-D display techniques and equipmentfor achieving this function are known in the virtual reality systemsart. The preferred stereoscopic display technique would be based onpolarization encoding/decoding of spatially-multiplexed images (SMIs)produced by combining the left and right perspective images of a real orsynthetic 3-D object into a single composite image (the SMI). During theimage display process, left image pixels in each displayed SMI areencoded with a first polarization state P1, whereas the right imagepixels in each displayed SMI are encoded with a second polarizationstate P2, orthogonal to P1. Such micropolarized SMIs can be producedfrom an LCD panel with a display surface bearing a micropolatizationpanel well known in the stereoscopic 3-D display art. Such LCD panelsand required SMI generation apparatus are commercially available fromVRex, Inc. of Hawthorne, N.Y. When navigating his vehicle alongside afeedbunk (during a uniform feed dispensing operation) as shown in FIG.2A1, the driver views polarized-SMIs displayed on the LCD panel whilewearing a pair of electrically-passive polarizing eyeglasses 98 in aconventional manner. The function of such polarizing eyeglasses is toallow the driver's left eye to only see the left perspective imagecomponent of the displayed SMI, while permitting the driver's right eyeto only see the right perspective image component of the displayed SMI.By this viewing process, the driver is capable perceiving feedlotimagery displayed on the micropolarizing LCD panel with full 3-D depthsensation. At the same time, solar glare transmitted to the interior ofthe vehicle cab is inherently reduced by the passive polarizer eyeglasses 97 worn by the driver.

[0120] As will become apparent hereinafter, the image display subsystem74 is capable of generating and displaying stereoscopic images of the3-D VR models of the feed delivery vehicle and feedbunk, near which the“real” feed delivery vehicle is physically located. With such adriver-display interface, the driver is afforded true 3-D depthperception of the 3-D VR models of each and every object in the VRfeedlot models (e.g. feedbunks, feed delivery chute, etc.) duringreal-time feed dispensing operations.

[0121] The primary function of the vehicle propulsion subsystem 37aboard each feedlot vehicle within the feedlot is to propel the feedlotvehicle along a navigational course determined by the navigationalsubsystem when operated in its selected navigational mode. In theillustrative embodiment, this subsystem is realized by an internalcombustion engine, coupled to an electronically controlled powertransmission. Examples of suitable electronic power transmissions aredescribed in U.S. Pat. No. 5,450,054 and the references cited therein,which are all incorporated herein by reference.

[0122] The function of the navigation subsystem 38 is to allow theassociated feedlot vehicle to be navigated within the feedlot duringfeedlot operations. In general, the navigation subsystem is capable ofproviding such support in both the manned-navigational modes andunmanned-navigational modes of vehicle operation. As such, thenavigation subsystem includes a manually-operated steering system and afoot or hand-operated braking system which enables the on-board operatorto manually steer the vehicle along a desired navigational coursethroughout the feedlot. The navigational subsystem also includes anelectronically-controlled steering system and anelectronically-controlled braking system which enables a remotelysituated operator, sitting before the associated VR workstation (e.g.20, 21, 23, 27), to remotely steer the corresponding vehicle along adesired navigational course throughout the feedlot which has beenpreprogrammed into the VR workstation or improvised in real-time by theremote operator.

[0123] The function of the stereoscopic vision subsystem 75 mountedaboard each feedlot vehicle, or located at each feedlot building, is tocapture in real-time both left and right perspective images of 3-Dobjects (or scenery) in the field of view (FOV) thereof. Notably, eachleft and right perspective image detected by this subsystem is commonlyreferred to as a stereoscopic image pair. Preferably, the field of viewof this subsystem is directed along the longitudinal axis of the vehiclein order to permit a remote operator thereof to view 3-D scenery alongthe navigational course which the vehicle is propelled to travel duringfeedlot operations.

[0124] As shown in FIGS. 2B2, 2C1, 2D1 and 2E1, stereoscopic visionsubsystem 75 aboard each feedlot vehicle can be realized using anultra-compact stereoscopic (3-D) camera system 99 commercially availablefrom VRex, Inc. of Hawthorne, N.Y. As shown in these figure drawings,this camera system is mounted upon a rotatable support platform 100which, in turn, is mounted upon the hood of the feed delivery vehicle.The camera support platform is remotely controllable from the associatedVR workstation to permit the remote operator of the vehicle to controlthe viewing parameters of the stereoscopic camera (e.g. the direction ofthe camera optical axes, the point of convergence thereof, the focaldistance of the camera, etc.) during the un-manned modes of operation.Using a head and eye tracking subsystem 101 at the VR workstation, theremote operator can easily select such stereoscopic camera (i.e.viewing) parameters during the unmanned-navigational mode, by simplymoving his head and eyes relative to the LCD display screen of the VRworkstation. Such natural head and eye movements of the remote operatorwill change the viewpoint of the images displayed on the LCD panel 95 ofthe workstation, and thus allow the remote operator to interact with theVR model of the remotely controlled feedlot vehicle under his or hercontrol.

[0125] It is understood that each feedlot vehicle according to thepresent invention may support one or more auxiliary subsystems for usein carrying out a particular feedlot function. In particular, each thefeed delivery vehicle in the feedlot is also provided with uniform feeddispensing subsystem 41 which includes a feed dispensing chute 105 andassociated controllers. The function of this auxiliary subsystem is touniformly dispense assigned feed ration along the length of a particularfeedbunk in an automatic manner as the vehicle is navigated alongsidethe feedbunk in either the manned-navigational mode orunmanned-navigational mode of the vehicle.

[0126] In the illustrative embodiment, the uniform feed dispensingsubsystem is realized by providing the computer system aboard the feeddelivery vehicle with the following additional subcomponents: a datacommunication port 106 for receiving digital information from anon-board truck scale 107 regarding the weight of the feed containedwithin the feed storage compartment 108 on the vehicle hydraulic valve109, electronically controlled by control signals S_(HV), forcontrolling the flow rate of feed ration from the storage bin 108 by wayof a auger 110 rotatably mounted along the feed dispensing chute 105; aprogrammed feed dispensing controller (i.e. microprocessor) 111 forproducing control signals S_(HV) for controlling the operation ofhydraulic valve 109 during feedbunk filling operations; and a datacommunication port 112 for transmitting such control signals S_(HV) tothe hydraulic valve. The function of the scale 107 is to measure theactual amount of feed loaded onto an assigned feed delivery vehicle atthe feedmill and subsequently dispensed into the feedbunks associatedwith an assigned pen sequence. In response to weight measurement, thescale produces an electrical signal S₁ indicative of the total weight ofthe feed contained within feed load storage compartment 108. Signal S₁is digitized and provided as input to the computer system aboard thefeed delivery vehicle. By measuring the weight of the feed withinstorage compartment 108 and recording these measurements in memory ofthe on-board computer system, the computer system computes the actualamount of feed ration either (i) supplied to the feed load storagecompartment during the feed loading process at the feedmill, or (ii)dispensed therefrom into the feedbunk of any pen in the feedlot. Suchcomputations can be implemented in a straight-forward manner usingprogramming techniques well known in the art.

[0127] The primary goal of the uniform feed dispensing subsystem 41 isto ensure that feed is delivered to each feedbunk in a substantiallyuniform manner (i.e. equal amount of feed dispensed per linear foottravelled by the feed delivery vehicle). In the preferred embodiment,control signals S_(HV) are generated in real-time by the computer systemaboard feed delivery vehicle using (i) digitized signal S₁ indicative ofthe total weight of the feed contained within feed load storagecompartment 108, and (ii) digital signal S₂ indicative of the speed ofthe vehicle, relative to the Earth. Signal S₂ can be generated in one ofseveral possible ways. One way is to use the GPS processor 84 to producedigital signal S₂ on the basis of the position coordinates of the feeddelivery vehicle over time. Alternatively, a ground speed radarinstrument 114, mounted aboard the feed delivery vehicle, can be used toproduce an electrical signal S₃ which is indicative of the true groundspeed of the vehicle. Notwithstanding method used to derive vehiclespeed signal S₂, signals S₁ and S₂ are sampled by the feed dispensingcontroller 111 at a sufficient rate and are utilized by a Uniform FeedDispensing Control Routine (executed within the feed delivery vehiclecomputer system) to produce control signal S_(HV) which is provided tothe hydraulic valve of uniform feed delivery control subsystem 41. Inthis way, the computer system aboard each feed delivery vehicleautomatically controls the incremental dispensation of feed in a mannersuch that, for each linear foot traversed by the feed delivery vehicle,a substantially constant amount of feed ration is dispensed along thetotal length of the feedbunk, independent of the speed of the vehicle.

[0128] As shown in FIG. 1, feed mixing/flow control subsystem 46 at t he feedmill comprises: feed ration storage bins 10A, 10B and 10C f o rstoring feed ration ingredients for dispensing and mixing together; anoverhead scale 115 for measuring the weight of feed rations dispensingtherefrom; feed ingredient metering and mixing equipment 11: a storagebin 116, and a microingredient dispensing system 117 for producing amicroingredient slurry for application to a prepared batch of feedration. The function of the storage bin 116 is to contain feed rationwhich has been prepared for loading onto the feed delivery vehicles anddispensing into particular sequences of animal feedbunks in the feedlot.The function of scale 115 is to provide an electrical signal indicativeof the total weight of prepared feed ration contained within the storagebin. The electrical signal produced from the scale is digitized andprovided as input to the feedmill computer system. By measuring theweight of the feed within the feed ration storage bin and recordingthese measurements in the feedmill computer system, the actual amount offeed ration prepared and loaded onto a particular feed delivery vehiclecan be computed in a straight forward manner. The microingredientdispensing system can be constructed in the manner disclosed in U.S.Pat. No. 5,487,603, which is incorporated herein by reference in itsentirety. In a manner known in the art, metering and mixing equipment 11at the feedmill is controlled by electrical (and hydraulic) controlsignals generated by a Feedmill Control Program running within feedmillcomputer system 18. As will be described in greater detail hereinafter,the feedmill computer system of the present invention is provided withcomputer programs (i.e. software) for: (i) assigning feed load and pensubsequence assignments, as will be described in detail hereinafter; and(ii) controlling metering and mixing equipment 11 at the feedmill.Suitable feedmill control software is commercially available fromLextron, Inc. under the tradename FLOWCON. Feedload records subsystem 47equipped with computer software, is used to maintain records in theassigned feed ration loaded into each feed delivery vehicle and thesubsequence of pens to which such feed are to be delivered.

[0129] At the central office, the feedlot manager can supervise allaspects of operation within the feedlot management system includingaccounting and billing operations. Such operations are carried out usingfinancial accounting/billing computer subsystem 15 interfaced withfeedlot management computer system 14, as shown in FIG. 2G. Financialaccounting/billing subsystem 15 is equipped with conventional financialaccounting software suitable for feedlot accounting and billingoperations. Suitable financial software is commercially available fromTurnkey Systems, Inc. under the tradename TURNKEY. In an alternativeembodiment, the computer software for financial accounting/billingoperations can be run on the a single feedlot management computersystem.

[0130] In the veterinary vehicle, the veterinarian is able to access,create, modify or otherwise maintain animal health (veterinary) recordson the health of particular animals in the feedlot. During themanned-navigational mode of the veterinary vehicle, the veterinariannavigates his/her vehicle while sitting within the cab thereof in aconventional manner. In this mode, the veterinarian can use theveterinary records subsystem thereaboard to create. Store and accessfeedlot data files on particular animals for review and data entry.Also, the veterinarian can use the VR subsystem to determine thebody-temperature and location of “tagged” animals in particular pens atany given moment by simply reviewing the updated VR-based feedlot modelon the dash-mounted LCD panel aboard the veterinary vehicle, or the LCDpanel of his VR workstation. When the veterinary vehicle pulls up to aparticular animal pen, the VR-based model of the corresponding animalpen (and tagged animal therein) is automatically displayed on thedash-mounted LCD panel in the vehicle. From the color-code of eachtagged animal represented in the VR feedlot model, the veterinarian canreadily ascertain the body-temperature and precise location ofparticular cattle in the feedlot, for visual inspection and treatment ifnecessary.

[0131] In the illustrative embodiment, such operations are carried outwith the assistance of the veterinary records subsystem 43. Preferably,subsystem 43 is realized by a computer program having a number ofdifferent routines for carrying out various data processing and transferoperations relating to veterinary health care of the cattle in thefeedlot.

[0132] In the illustrative embodiment, the nutrition records subsystem45 aboard the nutrition vehicle runs a computer program having a numberof different routines which carry out various data processing andtransfer operations relating to the diet and nutrition of the cattle inthe feedlot. The nutritionist can use the on-board VR subsystem toascertain information useful to the diagnosis and treatment ofnutritionally-deficient animals in the feedlot.

[0133] In FIG. 2B2, the n^(th) feed delivery vehicle of the presentinvention is shown operated in its manned-navigational mode, in whichthe operator thereof navigates the vehicle while sitting within the cabof the vehicle. While operating his vehicle, he is able to viewdashboard-mounted color LCD panel 95, upon which a 3-D VR model of hisvehicle (within the feedlot) is automatically displayed and viewedstereographically by the driver wearing polarizing glasses 98. Thefunction of the VR subsystem of this vehicle embodiment is to providevisual assistance to a human operator aboard the vehicle while he(manually, or semi-manually) navigates the feed delivery vehicle throughthe feedlot during feed dispensing operations, feed loading operationsand the like. Using the VR subsystem of this embodiment, the humanoperator is able to view on the LCD panel, a dynamically updated VRmodel of the feed delivery vehicle (his is navigating) in spatialrelation to (i) the feedbunk being uniformly filled during uniform feeddispensing operations, (ii) in spatial relation to the feedmill fillingchute during feed loading operations, and (iii) in spatial relation toany feedlot structure during an operation involving th feedlot deliveryvehicle. In FIG. 2B2′, the n^(th) feed delivery vehicle is shownoperated in its unmanned-navigational mode, in which the operatorthereof navigates the vehicle while sitting before the remotely-locatedVR-navigation workstation 27 (associated with the vehicle).

[0134] The VR workstation 27 associated with each feed delivery vehicleallows a human operator to remotely navigate a feed delivery vehiclethrough the feedlot during feed loading and feed dispensing operations,while sitting before the VR workstation, rather than within the feeddelivery vehicle. The advantage provided by this embodiment of the VRsubsystem is that a remote human operator, sitting at the VR workstationin the feedmill, can remotely navigate the feed delivery vehicle throughthe feedlot (in either an automatic or semi-automatic manner) duringfeed dispensing operations, feed loading operations as well any otheroperation in the feedlot.

[0135] During remote management of feed (loading) and dispensingoperations, the human operator can view from the LCD panel 95 of VRworkstation 27, stereoscopic images of a dynamically updated 3-D VRmodel of the feed delivery vehicle shown in spatial relation to thefeedbunk being uniformly filled during feed dispensing operations.Optionally, using split-screen image display techniques, stereoscopic3-D images of feedlot scenery captured within the field of view of thestereoscopic vision subsystem 75 (aboard the vehicle) can be displayedon the LCD panel of the VR workstation in the feedmill. In this mode,captured images of real objects about the feed delivery vehicle aredisplayed on the LCD panel of the workstation and can be used by theremote operator to avoid vehicular collision therewith as the feeddelivery is propelled by the propulsion subsystem 37 along thepre-plotted navigational course programmed with the navigationalsubsystem 38. Alternatively, the stereoscopic vision subsystem 75 andthe navigational subsystem 38 can cooperate to automatically avoidcollision with objects along the pre-plotted navigational course usingcollision avoidance techniques well known in the robotic control arts.In either mode of operation, the advantage provided by this novelarrangement is that the remote operator can use the VR subsystem to: (i)remotely position the end of the feed dispensing chute with the endpoint (i.e. beginning) of the feedbunk to be filled during the beginningof each feedbunk filling operation; as well as (ii) remotely maintainthe end of the feed dispensing chute over the centerline of feedbunkduring dispensing operations.

[0136] In FIG. 2C1, the feedbunk reading vehicle of the presentinvention is shown operated in its manned-navigational mode, in whichthe bunkreader navigates the vehicle while sitting within the cab of thevehicle. In FIG. 2C2, the feed delivery vehicle is shown operated in itsunmanned-navigational mode, in which the bunkreader thereof navigatesthe vehicle (and remotely reads the feedbunks) while sitting before theremotely-located VR-navigation workstation 23 (associated with thevehicle).

[0137] In FIG. 2D1, the veterinary vehicle of the present invention isshown operated in its manned-navigational mode, in which theveterinarian navigates the vehicle while sitting within the cab of thevehicle. In FIG. 2D2, the veterinary vehicle is shown operated in itsunmanned-navigational mode, in which the veterinarian thereof navigatesthe vehicle (and remotely examines animals in pens for signs ofsickness) while sitting before the remotely-located VR-navigationworkstation 20 (associated with the vehicle).

[0138] In FIG. 2E1, the nutrition vehicle of the present invention isshown operated in its manned-navigational mode, in which thenutritionist navigates the vehicle while sitting within the cab of thevehicle.

[0139] In FIG. 2E2, the nutrition vehicle is shown operated in itsunmanned-navigational mode, in which the nutritionist thereof navigatesthe vehicle (and remotely examines animals in pens for malnutrition)while sitting before the remotely-located VR-navigation workstation 20(associated with the vehicle).

[0140] While not shown, the feedlot management vehicle of the presentinvention can be operated in its manned-navigational mode, in which thefeedlot manager navigates the vehicle while sitting within the cab ofthe vehicle. In FIG. 2G1 the feedlot manager vehicle is shown operatedin its unmanned-navigational mode, in which the feedlot manager thereofnavigates the vehicle (and remotely inspects the feedlot) while sittingbefore the remotely-located workstation 25 (associated with thevehicle). In FIG. 2F1, the feedmill operator is shown before VRworkstation 26 while carrying out his function in the feedmill.

[0141] In the manned-navigational mode shown in FIG. 2B1, the vehicleoperator (i.e. the feedbunk reader) sits within the cab of the vehicle.During feedbunk reading operations, the feedbunk reader can use the VRsubsystem aboard his vehicle in a number of ways.

[0142] For example, the bunkreader can readily determine the position,orientation and state of each feed delivery vehicle in the feedlot byviewing the VR model of the feedlot on the dash-board mounted LCD panelwithin the cab of the feedbunk reading vehicle, shown in FIG. 2B2. Thecontinuously updated 3-D VR model of such feed delivery vehicles can beviewed from any viewing direction selected by the feedbunk reader. Theposition and state information can be displayed in various formatsdepending on the needs and desires of the feedbunk reader.

[0143] From time to time, the feedlot nutritionist may decide to changeor modify either the types of feed ration (and/or the ingredientscontained therein) which are fed to the cattle in the feedlot. When sucha decision has been made, a Feed Ration Change File is created withinthe feedlot nutrition computer system by the nutritionist, and is thentransmitted to the feedlot management computer system over the wirelesstelecommunication link established by digital communications network 32.When such a transmission arrives at the feedlot management computersystem, a “file received” indication will be preferably displayed on thedisplay screen thereof to cue the feedlot manager to update the FeedRation Master File using data contained in the received Feed RationChange File. Preferably the updating process occurs at the beginning ofeach new day, but may also occur at any time during the day as required.When all files have been updated, the feedlot management computer systemthen transmits a copy of the Pen Master File, the Ration Master File,the Feed Ration Consumption History File and the Cattle Movement HistoryFile to the feedbunk reading computer system, as indicated at Block B inFIG. 14A. Shortly thereafter, the feedlot management computer systemtransmits a copy of the Pen Master File, the Ration Master File, and theFeed Ration Consumption History File to the feedlot veterinary computersystem, as indicated at Block C in FIG. 14.

[0144] While the preferred embodiments of the system and method of thepresent invention have been described in detail, it will be appreciatedthat numerous variations and modifications of the present invention willoccur to persons skilled in the art. All such variations andmodifications shall constitute the present invention as defined by scopeand spirit of the appended claims.

What is claimed is:
 1. A feedlot computer network installation formanaging feedlot operations within a feedlot having a plurality ofanimal pens each having a feedbunk and containing one or more animalsfor feeding and health maintenance, said feedlot computer networkinstallation comprising: a feedbunk reading computer system, installedonboard a feedbunk reading vehicle transportable to each said animal penin said feedlot, said feedbunk reading computer system including meansfor receiving, storing and displaying said animal health data and feedration dispensed data; a means for producing, storing and displayingfeed ration delivery data, said feed ration delivery data specifying theassigned amount of feed ration to be delivered to the feedbunksassociated with a plurality of animal pens along a feeding route duringa specified number of feeding cycles to be executed within apredetermined time period, and said feed ration dispensed dataindicating the actual amount of feed ration delivered to the feedbunksof said animal pens during each said specified feeding cycle; aplurality of feed delivery vehicles each having a computer system, eachsaid feed delivery vehicle computer system being installed onboard eachsaid feed delivery vehicle and transportable to each said animal pen insaid feedlot and having storage means for storing an assigned feed load,and feed metering means for metering the actual amount of feed rationdelivered to the feedbunks associated with said specified sequence ofanimal pens, and data producing means for producing said feed rationdispensed data indicative of the actual amount of feed ration deliveredto said feedbunks, each said feed delivery vehicle computer system beingoperatable by a feed delivery vehicle operator assigned to said feeddelivery vehicle and having means for receiving, storing and displayingsaid feed ration delivery data provided from said feedbunk readingcomputer system, and means for receiving said feed ration dispensed dataproduced from said metering means aboard said feed delivery vehicle; afeedmill computer system, installed at a feedmill in said feedlot andhaving means for receiving, storing and displaying said feed rationdelivery data produced from said feedbunk reading computer system; afeedlot management computer system, installed aboard a feedlotmanagement vehicle team, for receiving, storing and displaying said feedration delivery data, said feed ration dispensed data and said animalhealth data, for use by a feedlot manager of said feedlot; a digitaldata communications system integrated with said feedlot computernetwork, for transferring digital data files among said feedbunk readingcomputer system, said feedmill computer system, said plurality of feeddelivery vehicle computer systems, said feedlot management computersystem and said feedmill computer system, wherein said digital data filecontain said feed ration delivery data, said animal health data and saidfeed ration dispensed data; and a database for maintaining informationrepresentative of a model of said feedlot and objects contained therein,wherein each said computer system installed on-board each said pluralityof feed delivery vehicles, includes a subsystem for viewing an aspect ofsaid model maintained in said database, vehicle information acquisitionmeans for acquiring vehicle information regarding (i) the position ofsaid feed delivery vehicle relative to a first prespecified coordinatereference frame, and/or (ii) the state of operation of said feeddelivery vehicle, and information transmission means for transmittingsaid vehicle information to said database to specify in the positionand/or the state of operation of said feed delivery vehicle representedwithin said model of said feedlot.
 2. The feedlot computer networkinstallation of claim 1, wherein said vehicle information acquisitionmeans-comprises a satellite-based global positioning system, and saiddatabase is periodically up-dated using said vehicle informationobtained from said satellite-based global positioning system.
 3. Thefeedlot computer network installation of claim 2, which furthercomprises animal information acquisition means for acquiring animalinformation regarding the position of animals in said feedlot relativeto second prespecified coordinate reference frame, and/or thebody-temperature of said animals so that said feedlot model reflects theposition and/or body-temperature of said animals.
 4. The feedlotcomputer network installation of claim 1, wherein said subsystem onboardeach said feed delivery vehicle comprises a stereoscopic displaysubsystem which permits the driver to stereoscopically view any aspectof said model, including the driver's vehicle as it is being navigatedthrough the feedlot during feedlot operations.
 5. The feedlot computernetwork installation of claim 4, wherein each said feed delivery vehicleis remotely controlled through the feedlot by an operator using aremotely situated workstation.
 6. The feedlot computer networkinstallation of claim 5, wherein each said feed delivery vehicle isequipped with stereoscopic vision subsystem having a field of view alongthe navigational course of said feedlot vehicle.
 7. The feedlot computernetwork installation of claim 6, wherein said database is maintainedaboard an Internet server operably associated with an Internet-baseddigital communications network, with which each said subsystem is incommunication.
 8. The feedlot computer network installation of claim 6,wherein a replica of said database is maintained aboard each saidfeedlot vehicle.
 9. The feedlot computer network installation of claim3, wherein said subsystem can be used to ascertain both vehicle andanimal inform-ation reflected in said model of the feedlot.
 10. Thefeedlot computer network installation of claim 1, which furthercomprises at least one workstation for viewing said model of saidfeedlot during feedlot operations.
 11. The feedlot computer networkinstallation of claim 1, which further comprises at least oneworkstation for viewing said model of a feedlot vehicle in said feedlotand remotely navigating said feed-lot vehicle along a course in saidfeedlot.
 12. An animal feedlot management system, which comprises: aplurality of feedlot vehicles, each employing an on-board computersystem which includes: a feedlot computer network comprised of afeedbunk reading computer system, a means for producing, storing anddisplaying feed ration delivery data, a feedmill computer system, afeedlot management computer system, a digital data communications systemintegrated with said feedlot computer network, a feedlot modellingsubsystem for maintaining a geometrical database containing ageometrical model of the feedlot and objects contained therein, acoordinate acquisition subsystem for acquiring coordinate informationspecifying the position of the feedlot vehicle relative to a coordinatereference system symbolically embedded within the feedlot, andgeometrical database processor for processing information in saidgeometrical database using said coordinate information in order toupdate said geometrical model.
 13. A method of animal feedlot managementsystem for installation in an animal feedlot, comprising: (a) providinga feedlot computer network comprised of a feedbunk reading computersystem, a means for producing, storing and displaying feed rationdelivery data, a feedmill computer system, a feedlot management computersystem, a digital data communications system integrated with saidfeedlot computer network; (b) providing a feedlot vehicle with anon-board computer system in communication with said feedlot computernetwork, said on-board computer system using real-time VR modelling andcoordinate acquisition techniques in order to maintain a 3-D geometricalmodel of said feedlot and objects therein including said feedlotvehicle; and (c) navigating said feedlot vehicle while viewing an aspectof said feedlot model from within said feedlot vehicle.